rt-thread/bsp/hpmicro/libraries/drivers/drv_pwm.c

/*
 * Copyright (c) 2022-2024 HPMicro
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
 * Change Logs:
 * Date         Author      Notes
 * 2022-05-09   HPMicro     First version
 * 2023-04-12   HPMicro     Adapt hpm_sdk v1.0.0
 * 2023-05-13   HPMicro     Fix compiling error on HPM6360/HPM6200
 * 2023-06-10	HPMicro     Add PWMv2 support
 */

#include <rtthread.h>

#if defined(BSP_USING_PWM) || defined(BSP_USING_PWMV2)
#if defined(BSP_USING_PWMV2)
#define HPMSOC_HAS_HPMSDK_PWMV2
#endif
#include <rthw.h>
#include <rtdevice.h>
#include "board.h"
#include "drv_gpio.h"
#if defined(HPMSOC_HAS_HPMSDK_PWMV2)
#include "hpm_pwmv2_drv.h"
#else
#include "hpm_pwm_drv.h"
#endif
#include "hpm_clock_drv.h"

#ifdef HPM_PWM3
#define PWM_INSTANCE_NUM 4
#elif defined(HPM_PWM2)
#define PWM_INSTANCE_NUM 3
#elif defined(HPM_PWM1)
#define PWM_INSTANCE_NUM 2
#else
#define PWM_INSTANCE_NUM 1
#endif

#if defined(HPMSOC_HAS_HPMSDK_PWMV2)
static PWMV2_Type * pwm_base_tbl[PWM_INSTANCE_NUM] = {
#else
static PWM_Type * pwm_base_tbl[PWM_INSTANCE_NUM] = {
#endif
    HPM_PWM0,
#ifdef HPM_PWM1
    HPM_PWM1,
#endif
#ifdef HPM_PWM2
    HPM_PWM2,
#endif
#ifdef HPM_PWM3
    HPM_PWM3
#endif
    };

#if defined(HPMSOC_HAS_HPMSDK_PWMV2)

#ifdef PWMV2_CNT_3
#define PWMV2_CNT_NUM 4
#elif PWMV2_CNT_2
#define PWMV2_CNT_NUM 3
#elif PWMV2_CNT_1
#define PWMV2_CNT_NUM 2
#else
#define PWMV2_CNT_NUM 1
#endif

static pwm_counter_t pwmv2_counter_tbl[PWMV2_CNT_NUM * 2] = {
    pwm_counter_0,
    pwm_counter_0,
#ifdef PWMV2_CNT_1
    pwm_counter_1,
    pwm_counter_1,
#endif
#ifdef PWMV2_CNT_2
    pwm_counter_2,
    pwm_counter_2,
#endif
#ifdef PWMV2_CNT_3
    pwm_counter_3,
    pwm_counter_3,
#endif
};
#endif

rt_err_t hpm_generate_central_aligned_waveform(uint8_t pwm_index, uint8_t channel, uint32_t period, uint32_t pulse)
{
#if defined(HPMSOC_HAS_HPMSDK_PWMV2)
    PWMV2_Type * pwm_base;
    pwm_counter_t pwm_counter;
#else
    PWM_Type * pwm_base;
    pwm_cmp_config_t cmp_config[2] = {0};
    pwm_config_t pwm_config = {0};
#endif
    uint32_t duty;
    uint32_t reload = 0;
    uint32_t freq;
    pwm_base = pwm_base_tbl[pwm_index];

    init_pwm_pins(pwm_base);
    freq = board_init_pwm_clock(pwm_base);
    if(period != 0) {
        reload = (uint64_t)freq * period / 1000000000;
    } else {
        reload = 0;
    }
    duty = (uint64_t)freq * pulse / 1000000000;

#if defined(HPMSOC_HAS_HPMSDK_PWMV2)

    pwm_counter = pwmv2_counter_tbl[channel];

    pwmv2_disable_counter(pwm_base, pwm_counter);
    pwmv2_reset_counter(pwm_base, pwm_counter);
    pwmv2_shadow_register_unlock(pwm_base);

    pwmv2_set_shadow_val(pwm_base, channel / 2, reload, 0, false);  /**< cnt use 0-3 shadow */
    pwmv2_set_shadow_val(pwm_base, channel * 2 + 4, reload + 1, 0, false);
    pwmv2_set_shadow_val(pwm_base, channel * 2 + 5, reload, 0, false);

    pwmv2_counter_select_data_offset_from_shadow_value(pwm_base, pwm_counter, channel / 2);
    pwmv2_counter_burst_disable(pwm_base, pwm_counter);
    pwmv2_set_reload_update_time(pwm_base, pwm_counter, pwm_reload_update_on_reload);

    pwmv2_select_cmp_source(pwm_base, channel * 2, cmp_value_from_shadow_val, channel * 2 + 4);
    pwmv2_select_cmp_source(pwm_base, channel * 2 + 1, cmp_value_from_shadow_val, channel * 2 + 5);

    pwmv2_shadow_register_lock(pwm_base);
    pwmv2_disable_four_cmp(pwm_base, channel);
    pwmv2_channel_enable_output(pwm_base, channel);
    pwmv2_enable_counter(pwm_base, pwm_counter);
    pwmv2_start_pwm_output(pwm_base, pwm_counter);

    pwmv2_shadow_register_unlock(pwm_base);
    pwmv2_set_shadow_val(pwm_base, channel * 2, (reload - duty) >> 1, 0, false);
    pwmv2_set_shadow_val(pwm_base, channel * 2, (reload + duty) >> 1, 0, false);
    pwmv2_shadow_register_lock(pwm_base);
#else

    pwm_stop_counter(pwm_base);
    pwm_get_default_pwm_config(pwm_base, &pwm_config);

    /*
     * reload and start counter
     */
    pwm_set_reload(pwm_base, 0, reload);
    pwm_set_start_count(pwm_base, 0, 0);

    /*
     * config cmp1 and cmp2
     */

    cmp_config[0].mode = pwm_cmp_mode_output_compare;
    cmp_config[0].cmp = (reload - duty) >> 1;
    cmp_config[0].update_trigger = pwm_shadow_register_update_on_shlk;

    cmp_config[1].mode = pwm_cmp_mode_output_compare;
    cmp_config[1].cmp = (reload + duty) >> 1;
    cmp_config[1].update_trigger = pwm_shadow_register_update_on_shlk;


    pwm_config.enable_output = true;
    pwm_config.dead_zone_in_half_cycle = 0;
    pwm_config.invert_output = false;
    /*
     * config pwm
     */
    if (status_success != pwm_setup_waveform(pwm_base, channel, &pwm_config, channel * 2, cmp_config, 2)) {
        return -RT_ERROR;
    }
    pwm_start_counter(pwm_base);
    pwm_issue_shadow_register_lock_event(pwm_base);

#endif
    return RT_EOK;

}

rt_err_t hpm_set_central_aligned_waveform(uint8_t pwm_index, uint8_t channel, uint32_t period, uint32_t pulse)
{
#if defined(HPMSOC_HAS_HPMSDK_PWMV2)
    PWMV2_Type * pwm_base;
#else
    PWM_Type * pwm_base;
    pwm_config_t pwm_config = {0};
#endif

    uint32_t duty;
    uint32_t reload = 0;
    uint32_t freq;

    pwm_base = pwm_base_tbl[pwm_index];
    freq = board_init_pwm_clock(pwm_base);
    if(period != 0) {
        reload = (uint64_t)freq * period / 1000000000;
    } else {
        reload = 0;
    }
    duty = (uint64_t)freq * pulse / 1000000000;

#if defined(HPMSOC_HAS_HPMSDK_PWMV2)
    pwmv2_shadow_register_unlock(pwm_base);
    pwmv2_set_shadow_val(pwm_base, channel / 2, reload, 0, false);  /**< cnt use 0-3 shadow */
    pwmv2_set_shadow_val(pwm_base, channel * 2 + 4, (reload - duty) >> 1, 0, false);
    pwmv2_set_shadow_val(pwm_base, channel * 2 + 5, (reload + duty) >> 1, 0, false);
    pwmv2_shadow_register_lock(pwm_base);
#else
    pwm_get_default_pwm_config(pwm_base, &pwm_config);
    pwm_set_reload(pwm_base, 0, reload);
    pwm_update_raw_cmp_central_aligned(pwm_base, channel * 2, channel * 2 + 1, (reload - duty) >> 1, (reload + duty) >> 1);
    pwm_issue_shadow_register_lock_event(pwm_base);
#endif

    return RT_EOK;
}

rt_err_t hpm_disable_pwm(uint8_t pwm_index, uint8_t channel)
{
#if defined(HPMSOC_HAS_HPMSDK_PWMV2)
    PWMV2_Type * pwm_base;

    pwm_base = pwm_base_tbl[pwm_index];
    pwmv2_shadow_register_unlock(pwm_base);
    pwmv2_set_shadow_val(pwm_base, channel * 2 + 4, 0, 0, false);
    pwmv2_set_shadow_val(pwm_base, channel * 2 + 5, 0, 0, false);
    pwmv2_shadow_register_lock(pwm_base);
#else
    pwm_disable_output(pwm_base_tbl[pwm_index], channel);
#endif
    return RT_EOK;

}

rt_err_t hpm_pwm_control(struct rt_device_pwm * device, int cmd, void *arg)
{
    uint8_t channel;
    uint32_t period;
    uint32_t pulse;
    rt_err_t sta = RT_EOK;
    unsigned char pwm_name;
    struct rt_pwm_configuration * configuration;
    configuration = (struct rt_pwm_configuration * )arg;
    channel = configuration->channel;
    period  = configuration->period;
    pulse   = configuration->pulse;
    if (strcmp("pwm0", device->parent.parent.name) == 0) {
        pwm_name = 0;
    } else if (strcmp("pwm1", device->parent.parent.name) == 0) {
        pwm_name = 1;
    } else if (strcmp("pwm2", device->parent.parent.name) == 0) {
        pwm_name = 2;
    } else if (strcmp("pwm3", device->parent.parent.name) == 0) {
        pwm_name = 3;
    } else {
        return -RT_ERROR;
    }

    switch(cmd) {
        case PWM_CMD_ENABLE: {
            sta = hpm_generate_central_aligned_waveform(pwm_name, channel, period, pulse);
            break;
        }
        case PWM_CMD_DISABLE: {
            hpm_disable_pwm(pwm_name, channel);
            break;
        }
        case PWM_CMD_SET: {
            sta = hpm_set_central_aligned_waveform(pwm_name, channel, period, pulse);
            break;
        }
        case PWM_CMD_GET: {
            sta = RT_EOK;
            break;
        }
        default: {
            sta = -RT_ERROR;
            break;
        }
    }
    return sta;
}

rt_err_t hpm_pwm_dev_control(rt_device_t device, int cmd, void *arg)
{
    uint8_t channel;
    uint32_t period;
    uint32_t pulse;
    rt_err_t sta = RT_EOK;
    uint8_t pwm_name;
    struct rt_pwm_configuration * configuration;
    configuration = (struct rt_pwm_configuration * )arg;
    channel = configuration->channel;
    period  = configuration->period;
    pulse   = configuration->pulse;
    if (strcmp("pwm0", device->parent.name) == 0) {
        pwm_name = 0;
    } else if (strcmp("pwm1", device->parent.name) == 0) {
        pwm_name = 1;
    } else if (strcmp("pwm2", device->parent.name) == 0) {
        pwm_name = 2;
    } else if (strcmp("pwm3", device->parent.name) == 0) {
        pwm_name = 3;
    } else {
        return -RT_ERROR;
    }

    switch(cmd) {
        case PWM_CMD_ENABLE: {
            sta = hpm_generate_central_aligned_waveform(pwm_name, channel, period, pulse);
            break;
        }
        case PWM_CMD_DISABLE: {
            hpm_disable_pwm(pwm_name, channel);
            break;
        }
        case PWM_CMD_SET: {
            sta = hpm_set_central_aligned_waveform(pwm_name, channel, period, pulse);
            break;
        }
        case PWM_CMD_GET: {
            sta = RT_EOK;
            break;
        }
        default: {
            sta = -RT_ERROR;
            break;
        }
    }
    return sta;
}

const static struct rt_pwm_ops hpm_pwm_ops = {
        .control = &hpm_pwm_control
};

static struct rt_device hpm_pwm_parent = {
        .control = hpm_pwm_dev_control
};

#ifdef HPM_PWM0
static struct rt_device_pwm hpm_dev_pwm0 = {
        .ops = &hpm_pwm_ops,
};
#endif

#ifdef HPM_PWM1
static struct rt_device_pwm hpm_dev_pwm1 = {
        .ops = &hpm_pwm_ops,
};
#endif

#ifdef HPM_PWM2
static struct rt_device_pwm hpm_dev_pwm2 = {
        .ops = &hpm_pwm_ops,
};
#endif

#ifdef HPM_PWM3
static struct rt_device_pwm hpm_dev_pwm3 = {
        .ops = &hpm_pwm_ops,
};
#endif


int rt_hw_pwm_init(void)
{
    int ret = RT_EOK;

#ifdef HPM_PWM0
    hpm_dev_pwm0.parent = hpm_pwm_parent;
    ret = rt_device_pwm_register(&hpm_dev_pwm0, "pwm0", &hpm_pwm_ops, RT_NULL);
#endif

#ifdef HPM_PWM1
    hpm_dev_pwm1.parent = hpm_pwm_parent;
    ret = rt_device_pwm_register(&hpm_dev_pwm1, "pwm1", &hpm_pwm_ops, RT_NULL);
#endif
#ifdef HPM_PWM2
    hpm_dev_pwm2.parent = hpm_pwm_parent;
    ret = rt_device_pwm_register(&hpm_dev_pwm2, "pwm2", &hpm_pwm_ops, RT_NULL);
#endif
#ifdef HPM_PWM3
    hpm_dev_pwm3.parent = hpm_pwm_parent;
    ret = rt_device_pwm_register(&hpm_dev_pwm3, "pwm3", &hpm_pwm_ops, RT_NULL);
#endif

    return ret;
}

INIT_BOARD_EXPORT(rt_hw_pwm_init);

#endif /* BSP_USING_PWM */